TWM570847U - Clamping mechanism - Google Patents

Abstract

A clamping mechanism includes a frame, a clamping module and a spacing adjustment module. The clamping module is disposed in the frame. The clamping module comprises a driving component disposed on the frame and a clamping component connected to the driving component. The drive member drives the gripping member to be displaced relative to the frame along a gripping path to clamp a panel outside the frame to the interior of the frame. The spacing adjustment module is disposed in the frame and connected to the clamping module. The spacing adjustment module drives the clamping module to shift in a pitch adjustment path. The pitch adjustment path is perpendicular to the gripping path.

Description

Clamping mechanism

The present invention relates to a gripping mechanism, and more particularly to a gripping mechanism that cooperates with a robot arm.

In response to the needs of factory automation, robots are used instead of manpower to transport various panels to the cart or to transport the panels from the cart to the appropriate location. FIG. 1A and FIG. 1B are schematic diagrams showing the flow of a mechanical arm handling plate to a cart according to the prior art. Referring to FIG. 1A and FIG. 1B, the prior art only uses the robot arm 11 to hold the plate member 12 (as shown in FIG. 1A), and sends the plate member 12 into the cart 13 (as shown in FIG. 1B). Ship to the next station. However, when the mechanical arm 11 is transported to the inside of the cart 13 (as shown in FIG. 1B), the robot arm 11 easily interferes with or collides with the cart 13, affecting the transport efficiency of the panel 12. Even the plate 12 or the robot arm 11 is damaged. In addition, since the robot arm 11 has to be placed inside the cart 13 to effectively place or obtain the plate member 12, the robot arm 11 requires high precision of manipulation and load capacity, resulting in a substantial increase in operating costs.

The purpose of the present invention is to provide a gripping mechanism for improving the flexibility of the robot arm to access an object and ensuring that the robot arm and the object do not collide during the transport of the object.

To achieve the above object, the present invention provides a gripping mechanism for coupling with a robot arm for gripping at least one plate member, the plate member being provided with a clamped structure. The clamping mechanism includes a frame, a clamping module and a spacing adjustment module. The frame is coupled to the robotic arm. The clamping module is disposed in the frame. The clamping module includes a driving member disposed on the frame and a clamping member connected to the driving member. The drive member urges the gripping member to be displaced relative to the frame along a gripping path to grip the panel outside the frame to the inside of the frame or to grip the panel inside the frame to the outside of the frame. The spacing adjustment module is disposed on the frame and connected to the clamping module. The spacing adjustment module drives the clamping module to be displaced in a spacing adjustment path, and the spacing adjustment path and the clamping path are perpendicular to each other.

In an embodiment of the present invention, the frame has at least two frames and a plurality of first guiding brackets, and the spacing adjustment module includes a driving shaft, and the driving shaft is along the spacing adjustment path and the clamping module The frame is connected to the robot arm, and the first guiding brackets are connected between the frames along the spacing adjustment path, and the clamping module is slid along the spacing adjustment path. And a guiding bracket, the driving shaft drives the clamping module to slide along the spacing adjustment path on the first guiding brackets.

In an embodiment of the present invention, the clamping module is provided with a plurality of second guiding brackets, and the second guiding brackets are extended along the clamping path and are slidably disposed on the first guiding brackets. And the drive shaft is connected to the second guiding bracket.

In an embodiment of the present invention, the inner edge of each of the second guiding brackets is provided with a plurality of guiding rollers arranged along the clamping path, and the plate clamped by the clamping member is along the guiding guides. The roller slides within the frame.

In an embodiment of the present invention, the upper edge of each of the second guiding brackets is provided with a plurality of anti-jumping members arranged along the clamping path, and the plate clamped by the clamping member is limited to the Between the guide rollers and the anti-jumping members.

In an embodiment of the present invention, the anti-jumping member is an anti-skip roller.

In an embodiment of the present invention, the clamping member includes a first clamping bracket and a second clamping bracket that moves relative to the first clamping bracket, and the first clamping bracket is provided with a first clamping roller. The second clamping bracket is provided with a second clamping roller. The clamped structure of the panel is a protruding structure, and the first clamping roller is adapted to be displaced to the clamped structure of the panel. a second clamping bracket adapted to move relative to the first clamping bracket to move the second clamping roller to a leading edge of the clamped structure of the panel to cooperate with the first clamping roller To clamp the clamped structure.

In an embodiment of the present invention, the gripping member further includes a gripping cylinder, and the first gripping bracket and the second gripping bracket are coupled to control the first gripping bracket and the second clip. Take the direction of displacement of the bracket.

In an embodiment of the present invention, the driving member includes a rodless cylinder guiding rod, and the rodless cylinder guiding rod is coupled to the clamping member to drive the clamping member to be displaced on the clamping path.

In an embodiment of the present invention, the clamping mechanism further includes a visual recognition module disposed outside the frame.

In order to make the above-mentioned objects, technical features, and gains after actual implementation more obvious, a more detailed description will be given below with reference to the corresponding drawings in the preferred embodiments.

In order to enable the reviewing committee to better understand the technical content of the present invention, the preferred embodiments are described below.

2 is a schematic view of the clamping mechanism of the embodiment of the present invention engaged with a mechanical arm from the cart clamping plate. 3 is a perspective view of the gripping mechanism of FIG. 2. 4A is a perspective view of the clamping mechanism of FIG. 2 mated with a robot arm to clamp the panel. FIG. 4B to FIG. 4D are schematic diagrams showing the flow of the clamping mechanism of the 4A and the mechanical arm for clamping the plate. Figure 5A is a side elevational view of the gripping mechanism and panel of Figure 4A. 5B to 5D are side views of the gripping mechanism and the plate of FIGS. 4B to 4D. Referring to FIG. 2, FIG. 3, FIG. 4A - FIG. 4D, and FIG. 5A - FIG. 5D, the clamping mechanism 200 of the present embodiment is used for coupling with a robot arm 21 for clamping at least one from a cart 23. Plate 22. Alternatively, at least one of the panels 22 can be gripped and sent to the cart 13 for transport to the next station. In the present embodiment, the plate member 22 is provided with, for example, a clamped structure 22a, and the gripping mechanism 200 moves the plate member 22 by gripping the clamped structure 22a.

The clamping mechanism 200 of the embodiment includes a frame 210, a clamping module 220 and a spacing adjustment module 230. The frame 210 is coupled to the robot arm 21. The clamping module 220 is disposed in the frame 210, and the clamping module 220 can be controlled to move from the inside of the frame 210 to the outside of the frame 210 to grip the panel 22. In the present invention, the clamping mechanism 200 can be configured with at least one clamping module 220. The clamping mechanism 200 of the present embodiment is exemplified by the two clamping modules 220. In other words, after the clamping mechanism 200 of the present embodiment is coupled to the robot arm 21, the two plates 22 can be clamped at one time.

As described above, the clamping module 220 of the embodiment includes a driving member and a clamping member 224. The driving member of the embodiment is a rodless cylinder guiding rod 229 disposed on the frame 210, and the clamping member 224 is connected to the rodless cylinder guiding rod 229. In a preferred embodiment, the rodless cylinder guide rod 229 can be coupled to the gripping member 224 to drive the gripping member 224 to be displaced on a gripping path L1. That is, the rodless cylinder guide rod 229 can drive the gripping member 224 to be displaced relative to the frame 210 along the gripping path L1 to clamp the panel 22 outside the frame 210 to the inside of the frame 210 or to sandwich the panel 22 inside the frame 210. The cart 23 is taken to the outside of the frame 210. 4A is a schematic view showing the mechanical arm 21 driving the gripping mechanism 200 to the outside of the cart 23 and preparing to grip the panel 22 placed inside the cart 23. For convenience of explanation, the cart 23 is not depicted in FIG. 4A. Correspondingly, FIG. 5A is a side view showing the robot arm 21 and the gripping mechanism 200 in the state of FIG. 4A. It can be clearly seen from FIG. 2, FIG. 4A and FIG. 5A that the mechanical arm 21 drives the clamping module 220 to the cart 23 to prepare for gripping the panel 22, and the clamping module 220 and the panel 22 are clamped. The relative position between.

In addition, the pitch adjustment module 230 of the embodiment is disposed on the frame 210 and connected to the clamping module 220. The spacing adjustment module 230 can drive the clamping module 220 to be displaced in a spacing adjustment path L2. In the present embodiment, the pitch adjustment path L2 is, for example, perpendicular to the gripping path L1. Further, the frame 210 of the present embodiment is composed of, for example, at least two frames 212 and a plurality of first guiding brackets 214, and the robot arm 21 is coupled to the frame 212. The frame 210 of the embodiment is described by taking the two frames 212 as an example.

In addition, the pitch adjustment module 230 of the embodiment includes a drive shaft 232. The driving shaft 232 is connected to the clamping module 220 along the spacing adjustment path L2, and the first guiding brackets 214 are connected between the two frames 212 along the spacing adjustment path L2. In the embodiment, the clamping module 220 is slidably disposed on the first guiding brackets 214 along the spacing adjustment path L2. In this way, the spacing adjustment module 230 can drive the clamping module 220 to slide on the first guiding bracket 214 along the spacing adjustment path L2 through the driving shaft 232. The distance adjustment path L2 is, for example, a path in the direction of gravity. Further, the gripping module 220 can be adjusted to an appropriate height so that the gripping member 224 can grip the panel 22 in place. In a preferred embodiment, the distance between the two frames 212 or the space can also be relative to the position of the first guiding bracket 214 in a linear bushing connection to adjust the distance between the two layers. In other words, the design of the first guiding bracket 214 of the embodiment combines the fixing and guiding functions, thereby effectively reducing the number of mechanism parts and reducing the overall weight.

The clamping module 220 of the embodiment is provided with a plurality of second guiding brackets 226. The second guiding brackets 226 extend along the clamping path L1 and are slidably disposed on the corresponding first guiding brackets 214. The drive shaft 232 is coupled to the second guide bracket 226. Therefore, the spacing adjustment module 230 can drive the clamping module 220 to slide along the spacing adjustment path L2 on the first guiding bracket 214 through the contact relationship between the driving shaft 232 and the second guiding bracket 226, thereby allowing the clamping The take module 220 is adjusted to an appropriate height. In particular, in this embodiment, a plurality of guiding rollers 227 arranged along the clamping path L1 are disposed on the inner edge of each of the second guiding brackets 226, and the plate 22 clamped by the clamping member 224 is adapted. These guide rollers 227 are slid into the frame 210 along the gripping path L1. In a preferred embodiment, the upper edge of each of the second guiding brackets 226 may also be provided with a plurality of anti-jumping members 228 arranged along the clamping path L1, and the plate member 22 clamped by the clamping member 224 is It can be limited between the guiding rollers 227 and the anti-bounce member 228 to prevent the plate member 22 from being displaced or loosened during the clamping process. The anti-jumping member 228 of the present embodiment is, for example, an anti-skip roller.

Please refer to FIG. 6A and FIG. 6B together. FIG. 6A is a schematic view of the gripping member of FIG. 3, and FIG. 6B is a top view of the gripping member of FIG. 6A. It should be noted that the clamping member 224 of the embodiment is mainly composed of a first clamping bracket 224a and a second clamping bracket 224b movable relative to the first clamping bracket 224a. For example, the first clamping bracket 224a is provided with a first clamping roller 224c, and the second clamping bracket 224b is provided with a second clamping roller 224d, for example, and the clamped structure of the panel 22 is a protruding structure. Further, the first gripping roller 224c is adapted to move to the trailing edge of the clamped structure 22a of the panel 22 via the actuation of the first gripping bracket 224a. Correspondingly, the second clamping bracket 224b can be moved relative to the first clamping bracket 224a or the first clamping roller 224c, so that the second clamping roller 224d can be moved to the panel 22 via the second clamping bracket 224b. The leading edge of the clamping structure 22a.

In this way, the second gripping roller 224d can cooperate with the first gripping roller 224c to clamp the clamped structure 22a of the panel 22. Furthermore, the plate member 22 can be effectively clamped by the gripping member 224 and can be transferred to the frame 210 by the aid of the rodless cylinder guiding rod 229, the lead roller 227 and the anti-bounce member 228, The conveying operation of the panel 22 is completed. In a preferred embodiment, the gripping member 224 can also include a gripping cylinder 224e. The gripping cylinder 224e is, for example, in contact with the first gripping bracket 224a and the second gripping bracket 224b to control the displacement direction of the first gripping bracket 224a and the second gripping bracket 224b.

The above description is as shown in FIG. 4B to FIG. 4D, and may also be referred to FIG. 5B to FIG. 5D together. 4B shows a schematic diagram of the clip-out module 220 after the state of FIG. 4A, the rodless cylinder guide rod 229 drives the gripping member 224 to be displaced relative to the frame 210 along the gripping path L1. According to an embodiment of the present invention, when the gripping member 224 is driven under the clamped structure 22a of the plate member 22, the gripping member 224 can be assisted by the spacing adjustment module 230, for example, along the distance. The adjustment path L2 adjusts the gripping position upward, and the first gripping roller 224c can abut the rear edge of the clamped structure 22a of the plate member 22, and the clamped structure 22a can be located at the first gripping roller 224c and the first Two clamping rollers 224d between. Correspondingly, FIG. 5B is a side view showing the clamping module 220 in the state of FIG. 4B. It should be noted that, according to another embodiment of the present invention, the gripping member 224 of the present invention can also be designed only according to the different spacing between the plates 22, and not when the gripping mechanism 200 performs the gripping action. .

In addition, FIG. 4C depicts a schematic view of the gripping module 220 after the state of FIG. 4B, the gripping cylinder 224e or other suitable moving member drives the second gripping bracket 224b toward the clamped structure 22a. Wherein, the second clamping bracket 224b is displaced toward the clamped structure 22a, so that the second clamping roller 224d can interfere with the leading edge of the clamped structure 22a of the plate 22 via the movement of the second clamping bracket 224b. Further, the clamped structure 22a can be effectively clamped between the first gripping roller 224c and the second gripping roller 224d. Correspondingly, FIG. 5C is a side view showing the gripping module 220 in the state of FIG. 4C.

On the other hand, FIG. 4D depicts a schematic view of the gripping module 220 being displaced back to its initial position relative to the frame 210 along the gripping path L1 after the state of FIG. 4C. Wherein, the clamping member 224 brings the clamped plate 22 back into the frame 210. It should be noted that during the process of the gripping member 224 bringing the clamped panel 22 back to the frame 210, the panel 22 is slid along the gripping path L1 by the guiding of the guiding roller 227. Inside the frame 210. At the same time, with the arrangement of the anti-bounce member 228 of the present embodiment, the plate member 22 can be stably confined between the guide roller 227 and the anti-bounce member 228.

In a preferred embodiment, the clamping mechanism 200 can further include a visual recognition module 240. The visual recognition module 240 is disposed, for example, outside the frame 210. The visual recognition module 240 can detect the actual position deviation of each cart/machine, correct the position of the grabbing and placing, and further enable the function of the difference of the cart/machine, and improve the picking and lowering plate 22 The accuracy reduces the occurrence of abnormal conditions during the process of picking and dropping the panel 22.

7A and FIG. 7B, FIG. 7A is a schematic view of the rodless cylinder guide rod of FIG. 4D, and FIG. 7B is a cross-sectional view of the rodless cylinder guide rod of FIG. 7A taken along line I-I'. The rodless cylinder guiding rod 229 of this embodiment is provided with a rodless cylinder slider 229a, a guiding plate 229b, a connecting fixing block 229c and two side rollers 229d. Wherein, the rodless cylinder slider 229a is provided with a rodless cylinder shaft 229e. The rodless cylinder slider 229a is slidably engaged with the rodless cylinder shaft, and the degree of freedom of rotation of the rodless cylinder slider 229a is restrained by the guide plate 229b. In particular, in order to improve the stability between the guide plate 229b and the rodless cylinder slider 229a, the present embodiment is provided with two side rollers 229d on the side of the guide plate 229b, and is connected by using the connection fixing block 229c. The rodless cylinder slider 229a and the two sets of side rollers 229d sandwich the guide plate 229b with the side rollers 229d to prevent the rotation of the rodless cylinder slider 229a and the rodless cylinder shaft in sliding engagement. The design of the embodiment does not need to additionally install the guiding track, thereby reducing the mechanism and the overall weight, and reducing the yaw angle of the rodless cylinder slider, thereby improving the accuracy and precision.

In summary, the gripping mechanism of the present invention can be disposed on the cart opening of the carrying plate member after being driven by the robot arm, and then by the driving member of the clamping module and the driving shaft of the spacing adjusting module, etc. The drive member is driven to cause the gripping member to grip the leading edge of the panel, and then the guide member is used to take the panel out of the cart into the frame of the gripping mechanism and to the next station. Of course, the gripping module of the present invention can also take out the panel from the frame and send it to the cart, and the working principle is the same as the foregoing description. In other words, the gripping mechanism of the present invention can efficiently and safely transport the panel, thereby saving the moving distance of the mechanical arm of the prior art and the moving space of the robot arm.

Furthermore, the gripping mechanism of the present invention can be equipped with two or more gripping modules at the same time. In this way, the clamping mechanism can simultaneously grab two or more pieces, thereby saving working time, increasing efficiency, and increasing productivity. On the other hand, since the gripping mechanism of the present invention is provided with a pitch adjusting module, the gripping mechanism of the present invention can appropriately adjust the working height between the gripping modules in the direction of gravity. In other words, the gripping mechanism of the present invention can simultaneously work on carts/machines with different spacings of the plates, thereby reducing the adjustment time after replacing the jigs and replacing the jigs according to different carts/machines, thereby increasing the productivity.

It should be noted that the above is only an embodiment, and is not limited to the embodiment. For example, those who do not deviate from the basic structure of this new model shall be the scope of rights claimed in this patent, and shall be subject to the scope of patent application.

11, 21‧‧‧ mechanical arm

12, 22‧‧‧ boards

13, 23‧‧‧ carts

22a‧‧‧Clamped structure

200‧‧‧Clamping mechanism

210‧‧‧Frame

212‧‧‧ frame

214‧‧‧First guide bracket

220‧‧‧Capture module

222‧‧‧ drag chain

224‧‧‧Clamping parts

224a‧‧‧First clamping bracket

224b‧‧‧Second gripping bracket

224c‧‧‧First gripper roller

224d‧‧‧Second gripping roller

224e‧‧‧clamping cylinder

226‧‧‧Second guiding bracket

227‧‧‧Guide Roller

228‧‧‧Anti-skid parts

229‧‧‧ rodless cylinder guide rod

229a‧‧‧rodless slider

229b‧‧‧Guideboard

229c‧‧‧Connecting fixed block

229d‧‧‧side roller

229e‧‧‧rodless cylinder shaft

230‧‧‧pitch adjustment module

232‧‧‧Drive shaft

240‧‧‧Visual Identification Module

L1‧‧‧Catch path

L2‧‧‧pitch adjustment path

FIG. 1A and FIG. 1B are schematic diagrams showing the flow of a mechanical arm handling plate to a cart according to the prior art. 2 is a schematic view of the clamping mechanism of the embodiment of the present invention engaged with a mechanical arm from the cart clamping plate. 3 is a perspective view of the gripping mechanism of FIG. 2. 4A is a perspective view of the clamping mechanism of FIG. 2 mated with a robot arm to clamp the panel. FIG. 4B to FIG. 4D are schematic diagrams showing the flow of the clamping mechanism of the 4A and the mechanical arm for clamping the plate. Figure 5A is a side elevational view of the gripping mechanism and panel of Figure 4A. 5B to 5D are side views of the gripping mechanism and the plate of FIGS. 4B to 4D. FIG. 6A is a schematic view of the gripping member of FIG. 3. FIG. Figure 6B is a top view of the gripping member of Figure 6A. 7A is a schematic view of the rodless cylinder guide rod of FIG. 4D. Figure 7B is a cross-sectional view of the rodless cylinder guide rod of Figure 7A taken along line I-I'.

Claims (10)

A clamping mechanism is coupled to a mechanical arm for holding at least one plate member, the plate member being provided with a clamped structure, the clamping mechanism comprising: a frame coupled to the mechanical arm; a clamping module, Provided in the frame, the clamping module comprises: a driving member disposed on the frame; a clamping member coupled to the driving member, the driving member driving the clamping member to be displaced relative to the frame along a clamping path Pulling the plate outside the frame into the frame or clamping the plate inside the frame to the outside of the frame; a spacing adjustment module disposed on the frame and the clamping module The spacing adjustment module drives the clamping module to be displaced in a spacing adjustment path, the spacing adjustment path being perpendicular to the clamping path. The gripping mechanism of claim 1, wherein the frame has at least two frames and a plurality of first guiding brackets, the spacing adjustment module includes a driving shaft, and the driving shaft adjusts the path along the spacing The clamping module is connected to the frame, the frame is coupled to the robot arm, and the first guiding brackets are connected between the frames along the spacing adjustment path, and the clamping module adjusts the path along the spacing The sliding guide is disposed on the first guiding brackets, and the driving shaft drives the clamping module to slide along the spacing adjustment path on the first guiding brackets. The clamping mechanism of claim 2, wherein the clamping module is provided with a plurality of second guiding brackets, and the second guiding brackets are extended along the clamping path and are slidably disposed on the clamping guides. a first guiding bracket, and the driving shaft is connected to the second guiding bracket. The clamping mechanism of claim 3, wherein the inner edge of each of the second guiding brackets is provided with a plurality of guiding rollers arranged along the clamping path, and the clamping roller is clamped by the clamping member The plate slides along the guide rollers into the frame. The clamping mechanism of claim 4, wherein the upper edge of each of the second guiding brackets is provided with a plurality of anti-jumping members arranged along the clamping path, and the clamping member is clamped by the clamping member. The plate is limited between the guiding rollers and the anti-jumping members. The gripping mechanism of claim 5, wherein the anti-skip member is an anti-skip roller. The gripping mechanism of claim 1, wherein the gripping member comprises a first gripping bracket and a second gripping bracket movable relative to the first gripping bracket, the first gripping bracket There is a first clamping roller, and the second clamping bracket is provided with a second clamping roller. The clamped structure of the panel is a protruding structure, and the first clamping roller is adapted to be displaced to the panel. The rear edge of the clamped structure, and the second clamping bracket is adapted to move relative to the first clamping bracket to move the second clamping roller to the leading edge of the clamped structure of the panel to The first gripping roller cooperates to clamp the clamped structure. The gripping mechanism of claim 7, wherein the gripping member further comprises a gripping cylinder connected to the first gripping bracket and the second gripping bracket to control the first gripping The bracket and the displacement direction of the second clamping bracket. The gripping mechanism of claim 1, wherein the driving member comprises a rodless cylinder guiding rod, the rodless cylinder guiding rod is connected with the clamping member to drive the clamping member The displacement on the gripping path. The clamping mechanism of claim 1, further comprising a visual recognition module disposed outside the frame.